Modified Skyhook Control for the Semi-Active Macpherson Strut Suspension: A New Model and HILS

2000 ◽  
Author(s):  
Keum-Shik Hong ◽  
Hyun-Chul Sohn ◽  
J. Karl Hedrick
Keyword(s):  
Relative Velocity ◽  
Control Law ◽  
Hardware In The Loop ◽  
Control Performance ◽  
Active System ◽  
Damping Force ◽  
New Model ◽  
Macpherson Strut Suspension ◽  
Macpherson Strut ◽  
Unsprung Mass

Abstract In this paper, a modified skyhook control for the semi-active Macpherson suspension system is investigated. A new model for the Macpherson type suspension, which incorporates the rotational motion of the unsprung mass, is introduced and a feedback control law utilizing the modified skyhook control strategy is derived. Also, two filters to estimate the absolute velocity of the sprung mass and the relative velocity of the rattle space are designed. For testing the control performance, the actual damping force has been included in the hardware-in-the-loop simulations. The control performances of the semi-active system and a passive one have been compared. HILS results are provided.

Kinematic and Dynamic Analysis for a New MacPherson Strut Suspension System

2020 ◽  
Vol 22 (4) ◽  
pp. 1223-1238 ◽  
Author(s):  
S. Dehbari ◽  
J. Marzbanrad
Keyword(s):  
Dynamic Analysis ◽  
Vertical Displacement ◽  
Geometrical Model ◽  
Suspension System ◽  
Front Suspension ◽  
Multibody Model ◽  
Macpherson Strut Suspension ◽  
Two Degree Of Freedom ◽  
Macpherson Strut ◽  
Unsprung Mass

AbstractThe present paper undertakes kinematic and dynamic analysis of front suspension system. The investigated model is a full-scale Macpherson which is a multibody system. Two degree of freedom model is considered here to illustrate the vertical displacement of sprung mass and unsprung mass with using displacement matrix. Ride and handling parameters including displacement of sprung and unsprung masses, camber/caster angle, and track changes are derived from the relationships. Moreover, geometrical model and equations are validated by Adams/Car software. The kinematic and dynamic results have been compared in both analytical and numerical outputs for verification. The proposed analytical model shows less than 5% differences with a complicated multibody model.

A New Model for MacPherson Suspension System and Observation of Ride Characteristics and Its Optimal Control

2005 ◽  
Author(s):  
M. S. Fallah ◽  
S. Fardisi ◽  
M. Eghtesad
Keyword(s):  
Optimal Control ◽  
Angular Displacement ◽  
Suspension System ◽  
Control System Design ◽  
Control Law ◽  
Vertical Acceleration ◽  
Inertia Moment ◽  
New Model ◽  
Camber Angle ◽  
Unsprung Mass

In this paper a new model for the MacPherson suspension system and its optimal control are investigated. The focuses of the modeling were to add the rotational motion of the unsprung mass and considering physical characteristics of the spindle such as mass and inertia moment. The vertical acceleration of the sprung mass is measured, while the angular displacement of the control arm is estimated. According to this model the ride characteristics such as alterations of the camber angle, king-pin angle and track are displayed. This model is more general in the sense that it provides an extra degree of freedom in determining the plant model for control system design. Optimal control theory was employed to derive a control law for an active suspension system. The performance degradation with an active actuator is evaluated. Simulations are also provided.

Modified Skyhook Control of Semi-Active Suspensions: A New Model, Gain Scheduling, and Hardware-in-the-Loop Tuning

2000 ◽  
Vol 124 (1) ◽  
pp. 158-167 ◽  
Author(s):  
Keum-Shik Hong ◽  
Hyun-Chul Sohn ◽  
J. Karl Hedrick
Keyword(s):  
Vertical Acceleration ◽  
Hardware In The Loop ◽  
Active Suspensions ◽  
Actuator Dynamics ◽  
New Model ◽  
The Road ◽  
Macpherson Strut Suspension ◽  
Acceleration Data ◽  
Control Scheme ◽  
Loop Tuning

In this paper, a road adaptive modified skyhook control for the semi-active Macpherson strut suspension system of hydraulic type is investigated. A new control-oriented model, which incorporates the rotational motion of the unsprung mass, is introduced. The control law extends the conventional skyhook-groundhook control scheme and schedules its gains for various road conditions. Using the vertical acceleration data measured, the road conditions are estimated by using the linearized new model developed. Two filters for estimating the absolute velocity of the sprung mass and the relative velocity in the rattle space are also designed. The hydraulic semi-active actuator dynamics are incorporated in the hardware-in-the-loop tuning stage of the control algorithm developed. The optimal gains for the ISO road classes are discussed. Experimental results are included.

Design and development of a backstepping controller autopilot for fixed-wing UAVs

2021 ◽  
pp. 1-27
Author(s):  
D. Sartori ◽  
F. Quagliotti ◽  
M.J. Rutherford ◽  
K.P. Valavanis
Keyword(s):  
Real Time ◽  
Control Law ◽  
Parametric Uncertainties ◽  
Hardware In The Loop ◽  
Aircraft Control ◽  
Backstepping Approach ◽  
Small Uav ◽  
Backstepping Controller ◽  
Definition Of ◽  
Performance Results

Abstract Backstepping represents a promising control law for fixed-wing Unmanned Aerial Vehicles (UAVs). Its non-linearity and its adaptation capabilities guarantee adequate control performance over the whole flight envelope, even when the aircraft model is affected by parametric uncertainties. In the literature, several works apply backstepping controllers to various aspects of fixed-wing UAV flight. Unfortunately, many of them have not been implemented in a real-time controller, and only few attempt simultaneous longitudinal and lateral–directional aircraft control. In this paper, an existing backstepping approach able to control longitudinal and lateral–directional motions is adapted for the definition of a control strategy suitable for small UAV autopilots. Rapidly changing inner-loop variables are controlled with non-adaptive backstepping, while slower outer loop navigation variables are Proportional–Integral–Derivative (PID) controlled. The controller is evaluated through numerical simulations for two very diverse fixed-wing aircraft performing complex manoeuvres. The controller behaviour with model parametric uncertainties or in presence of noise is also tested. The performance results of a real-time implementation on a microcontroller are evaluated through hardware-in-the-loop simulation.

scholarly journals A New Torque Distribution Control for Four-Wheel Independent-Drive Electric Vehicles

Actuators ◽  
2021 ◽  
Vol 10 (6) ◽  
pp. 122
Author(s):  
Dejun Yin ◽  
Junjie Wang ◽  
Jinjian Du ◽  
Gang Chen ◽  
Jia-Sheng Hu
Keyword(s):  
Electric Vehicles ◽  
Vehicle Stability ◽  
Hardware In The Loop ◽  
Control Performance ◽  
Torque Distribution ◽  
Handling Performance ◽  
Control Approach ◽  
Tire Forces ◽  
Yaw Moment ◽  
New Distribution

Torque distribution control is a key technique for four-wheel independent-drive electric vehicles because it significantly affects vehicle stability and handling performance, especially under extreme driving conditions. This paper, which focuses on the global yaw moment generated by both the longitudinal and the lateral tire forces, proposes a new distribution control to allocate driving torques to four-wheel motors. The proposed objective function not only minimizes the longitudinal tire usage, but also make increased use of each tire to generate yaw moment and achieve a quicker yaw response. By analysis and a comparison with prior torque distribution control, the proposed control approach is shown to have better control performance in hardware-in-the-loop simulations.

Scheduling Strategy of Multiple Semi-Active Controllers With Information on the Disturbance and the Structural Response

2016 ◽  
Author(s):  
Kazuhiko Hiramoto ◽  
Taichi Matsuoka ◽  
Katsuaki Sunakoda
Keyword(s):  
Optimal Control ◽  
Control System ◽  
Active Control ◽  
Structural Response ◽  
Design Parameters ◽  
Control Law ◽  
Control Performance ◽  
Multiple Control ◽  
Control Laws ◽  
Scheduling Strategy

A scheduling strategy of multiple semi-active control laws for various earthquake disturbances is proposed to maximize the control performance. Generally, the semi-active controller for a given structural system is designed as a single control law and the single control law is used for all the forthcoming earthquake disturbances. It means that the general semi-active control should be designed to achieve a certain degree of the control performance for all the assumed disturbances with various time and/or frequency characteristics. Such requirement on the performance robustness becomes a constraint to obtain the optimal control performance. We propose a scheduling strategy of multiple semi-active control laws. Each semi-active control law is designed to achieve the optimal performance for a single earthquake disturbance. Such optimal control laws are scheduled with the available data in the control system. As the scheduling mechanism of the multiple control laws, a command signal generator (CSG) is defined in the control system. An artificial neural network (ANN) is adopted as the CSG. The ANN-based CSG works as an interpolator of the multiple control laws. Design parameters in the CSG are optimized with the genetic algorithm (GA). Simulation study shows the effectiveness of the approach.

Semi-Active Control of Structural Systems Aiming to Approximate the Performance of the Targeted Active Control Law: Output Emulation Approach

2013 ◽  
Author(s):  
Kazuhiko Hiramoto ◽  
Taichi Matsuoka ◽  
Katsuaki Sunakoda
Keyword(s):  
Control System ◽  
Active Control ◽  
Variable Parameter ◽  
Control Law ◽  
Structural Systems ◽  
Control Force ◽  
Control Performance ◽  
Control Devices ◽  
Active Control System ◽  
Control Output

As a method for semi-active control of structural systems, the active-control-based method that emulates the control force of a targeted active control law by semi-active control devices has been studied. In the active-control-based method, the semi-active control devices are not necessarily able to generate the targeted active control force because of the dissipative nature of those devices. In such a situation, the meaning of the targeted active control law becomes unclear in the sense of the control performance achieved by the resulting semi-active control system. In this study, a new semi-active control strategy that approximates the control output (not the control force) of the targeted active control is proposed. The variable parameter of the semi-active control device is selected at every time instant so that the predicted control output of the semi-active control system becomes close to the corresponding predicted control output of the targeted active control as much as possible. Parameters of the targeted active control law are optimized in the premise of the above “output emulation” strategy so that the control performance of the semi-active control becomes good and the “error” of the achieved control performance between the targeted active control and the semi-active control becomes small.

High Performance Structural Vibration Control by a Preview of the Future Seismic Waveform Generated With a Wave Transmission Network and an AI-Based Estimation System

2019 ◽  
Author(s):  
Kazuhiko Hiramoto ◽  
Taichi Matsuoka ◽  
Katsuaki Sunakoda
Keyword(s):  
Vibration Control ◽  
Control Method ◽  
Small Scale ◽  
Control Law ◽  
Time Interval ◽  
Transmission Network ◽  
Control Performance ◽  
Seismic Waveform ◽  
The Future ◽  
Estimation System

Abstract We propose a new active vibration control strategy based on the future seismic waveform information obtained in remote observation sites. The waveform information in the remote site is transmitted by a waveform transmission network to the structure under control. The waveform transmission network is realized by interconnecting multiple controlled structures and observation sites. By using the future waveform information obtained through the network, we propose a control law realizing fairly higher control performance over the conventional structural control methodologies. A preview control law consisting of the state-feedback and feedforward control (preview action) is adopted. For the preview action, future values of the disturbance in some time interval are necessary. However, because the future value of the earthquake waveform is unknown, the preview action contributing the performance improvement is generally impossible. To get over this difficulty, an AI-based wave estimation system to estimate the future earthquake waveform is proposed. The wave estimation system is a multi-layered artificial neural network (ANN). Through a small scale simulation study with a recorded earthquake event in Japan, we show that the proposed control method achieves much higher control performance over the conventional LQ-based active control.

CONTROL PERFORMANCE OF ER ENGINE MOUNT SUBJECTED TO TEMPERATURE VARIATIONS

2005 ◽  
Vol 19 (07n09) ◽  
pp. 1675-1681 ◽  
Author(s):  
H. J. SONG ◽  
S. B. CHOI ◽  
K. S. KIM
Keyword(s):  
Temperature Variation ◽  
Flow Mode ◽  
Control Performance ◽  
Damping Force ◽  
Engine Operation ◽  
Noise And Vibration ◽  
Vehicle Systems ◽  
Time Domains ◽  
Engine Mount ◽  
And Control

A key function of engine mount of vehicle systems is to support engine mass and isolate noise and vibration from engine disturbance forces. One of attractive candidates to achieve this goal is to utilize a semi-active ER engine mount. By applying this, we can effectively control damping force and hence the noise and vibration by just controlling the intensity of electric field. However, control performance of the engine mount may be very sensitive to temperature variation during engine operation. In this work, we investigate dynamic and control performances of ER engine mount with respect to the temperature variation. In order to undertake this, a flow-mode type of ER engine mount is designed and manufactured. Displacement transmissibility is experimentally evaluated for 1 degree of freedom. The ER engine mount is then incorporated with full-vehicle model in order to investigate vibration control performance. After formulating the governing equation of motion, a semi-active controller is designed. The controller is implemented through a hardware-in-the-loop simulation (HILS), and control responses such as acceleration level at various engine speeds are evaluated in the frequency and time domains.

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